Controller Boxes

da Vinci Classic Active Arm Controllers (MTM, PSM, ECM)
da Vinci Classis Setup Joint Controller
- Exterior Connectors
- Internal Components

For all acronyms see FAQ.

da Vinci Classic Active Arm Controllers (MTM, PSM, ECM)

Each da Vinci arm (MTM, PSM, ECM) is controlled by a single box, shown below. A similar controller box is used for the Setup Joint controller (see below). The controllers are built around 2 QLA/FPGA stacks. They are designed to interface with the da Vinci Classic (first generation) active arms, both on the patient and surgeon's side. They provide inputs for the potentiometers and encoders as well as miscellaneous digital IOs (foot pedals, buttons...). For motor control they use linear amplifiers with current feedback. All controllers come with FireWire interfaces so they can be daisy chained and communicate with a computer. Later controllers came with an Ethernet adapter (supported with firmware 7+ and software 2+). See also controller versions.

Exterior Connectors

One AC power connector, with on/off switch
One 156-pin connector (for the MTM, PSM, or ECM)
Two FireWire connectors
Two Ethernet connectors (later versions)
One or two 4 or 5-pin safety chain connectors (depending on version); see ESTOP page
One DB15 footpedal connector; see dMIB I/O page
Seven HD15 expansion connectors and one HD26 expansion connector; see dMIB I/O page

Internal Components

Internally, each controller box contains two FPGA/QLA board sets, one dMIB (da Vinci Manipulator Interface Board), LED boards, power supplies and relays.

Controller layout

Custom Boards (PCBs)

Component versions by build/date.
The FPGA and QLA designs are open source and available via this GitHub page.
The dMIB is provided by Intuitive Surgical. The designs, including schematics and BOM, are available via this GitHub page.

Power Supplies

All boxes contain a 12V (50W) logic power supply that provides power to the FPGA boards and the safety chain.
Each box also contains one or more motor power supplies that are connected to the QLAs:
- MTM: one 24V (75W) power supply connected to QLA #1 and one 12V (50W) power supply connected to QLA #2
- PSM: one 24V (225W) power supply connected to both QLAs
- ECM: one 36V (225W) power supply connected to both QLAs
Replacement power supplies
- 12V Logic Power Supply (For All) & 12V Motor Power Supply (For MTM): https://www.digikey.com/product-detail/en/cui-inc/VGS-50-12/102-1935-ND/2045666
- 24V Motor Power Supply (For MTM): https://www.digikey.com/product-detail/en/cui-inc/VGS-75-24/102-1943-ND/2045674
- 24V Motor Power Supply (For PSM): https://www.astrodynetdi.com/ecatalog/power-supplies/PMK225S-24U
- 36V Motor Power Supply (For ECM): https://www.astrodynetdi.com/ecatalog/power-supplies/PMK225S-36U

Hardware modifications

dMIB:
- ECM switch for SUJ
- PSM Dallas chip for tool detection
QLAs:
- Heat sink and fan

da Vinci Classis Setup Joint Controller

The dVRK SUJ controller supports all the features available on the daVinci patient cart, i.e.:

Read joint positions. The dVRK QLA has 4 analog to digital inputs so it reads the potentiometer values sequentially using a multiplexer.
Release brakes. The dVRK controller uses the linear amps of the QLA dedicated to motor control to release the brakes.
Lift PSM3. The dVRK FPGA generates a PWM signal sent to the PWM power unit included on the dSIB.

For more details regarding the software features and configuration, see the SUJ page.